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Step 43. Transform the DO0~DO15 of I-8057 and AO0 of I-8024 to be 0x90AB
and 0V respectively.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
0
1
0
0
0
0
PDO
consumer
COB-ID
:
0x202
PDO-msg
:
AB 90 00 00 00 00 00 00
The first two bytes are assigned to the value 0x90AB of the
DO0~DO15 of the I-8057. The 3rd and 4th bytes are assigned to the
value 0x0000 for the AO0 of the I-8024. Total bytes of this PDO
message are 4.
Step 44. Users will receive the 1st TxPDO and 5th TxPDO simultaneous ly
because the DI values have been changed.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
0
0
1
1
0
0
PDO
consumer
COB-ID
:
0x181
L
:
2
PDO-msg
:
AB 90 00 00 00 00 00 00
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
Node ID
RTR
4
3
2
1
0
0
0
0
1
0
0
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
Data
Length
0
1
2
8
AB
90
00
Data
Length
0
1
2
2
AB
90
00
8-byte Data (byte)
3
4
5
00
00
00
PDO producer
(CAN-8x23)
8-byte Data (byte)
3
4
5
00
00
00
PDO producer
(CAN-8x23)
6
7
00
00
6
7
00
00
141
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